Transloading apparatus for transcontainers

ABSTRACT

The invention relates to a transloading apparatus for transcontainers such as freight containers, interchangeable containers and semi-trailers including a crane trolley adapted to travel on a crane or portal, to which, by way of a lifting means, a load receiving means is fitted in a manner for raising and lowering. 
     In order to enable the load receiving means to be guided and aligned more accurately in relation to the transcontainer, provision is made to connect to the load receiving apparatus two horizontally movable columns or lifting structures at a distance from one another which is fixed or can be adjusted in a defined manner and to reader these vertically displaceable. Preferably each of the columns or each of the two lifting structures can be connected by way of a pendulum suspension to the load receiving means.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a national phase of PCT/EP94/02711 filed 13 Aug.1994 and based, in turn, upon German applications P 43 29 470.7 of 1Sep. 1993 and P 43 42 522.4 of 14 Dec. 1993 under the InternationalConvention.

FIELD OF THE INVENTION

The invention relates to a transloading apparatus for containers such asfreight containers, interchangeable containers and semi-trailers. Moreparticularly the invention relates to an apparatus including a cranetrolley adapted to travel on a crane or portal, to which, by way of alifting means, a load receiving means is fitted in a manner for raisingand lowering.

BACKGROUND OF THE INVENTION

Transcontainers serve as freight containers, for example for goods whichhave not been packaged or only lightly packaged and which may, in part,be moisture sensitive or for goods in the form of large loading units.Such transcontainers not only save packaging material, but they alsoincrease the transloading speed.

According to the state of the art, gripping means for containertransloading are known which are referred to as spreaders and which canbe equipped with additional interchangeable pallet pincers. For pickingup containers the spreaders have so-called twist locks by means of whichthe containers can be engaged from above. For picking up interchangeablecontainers and semi-trailers, gripping claws are provided which can gripinto rebates provided on the underside of the containers. The adjustmentof the twist locks to the various container lengths can be effected inthe spreader by way of telescope means. After the twist locks haveengaged into the load receiving points of the container or the clawshave engaged in the rebates of the interchangeable containers orsemi-trailers, these containers jointly with the entire lifting andtransportation means are lifted by means of lifting ropes. The liftingropes are passed over pulleys above on the lifting and transportingmeans, for example a portal crane. Bearing in mind the required forshort transloading times the lifting and the horizontal movementsfrequently cause the transcontainer to be set into a pendulum motion,whereby an accurate guidance and setting down is impossible. Inpractice, damping of the pendulum movements is attempted by obliquepulling of the lifting ropes.

With particular regard to a fully automatic transloading of containersin combined load traffic, shortening of the crane travel distances,increasing the cycle times per transloading and shortening of the lengthof the installation, loading and unloading from and onto a travellingtrain has been proposed. An automatic setting down of the load unitsonto the train including aligning the grapple means with the containersand automatic release of the grapple means from the container is aprecondition therefor.

OBJECT OF THE INVENTION

It is, therefore, an object of the invention to provide an improvedtransloading apparatus whereby the load receiving means can beaccurately guided and aligned in relation to the transcontainer.

SUMMARY OF THE INVENTION

This object is achieved in accordance with the present invention byproviding transloading apparatus wherein two horizontally displaceablecolumns or lifting structures are connected to the load receiving meansside by side at a distance from one another which is fixed or can beadjusted in a defined manner and by providing that at least one of thetwo lifting structures can be displaced vertically.

The spacing of the columns or lifting structures is selected to be asfar apart as possible and as far as possible above the load receivingpoints so as to provide the largest possible base for receiving andfixing the transcontainer even in the event of an off-centergravitational center of the load unit and so that tensile forces appliedto the lifting structure or the lifting means can be maintained whichare at least approximately of equal magnitudes.

The vertical displaceability of at least one of the two liftingstructures, preferably both columns or lifting structures enable thelifting structures to be aligned optimally for containers in an inclinedposition.

Although a rigid connection between the transcontainer and the liftingmeans offers the advantage that pendulum movements are prevented fromthe outset, this nevertheless involves the drawback that relativemovements between the vehicle to be unloaded, e.g. a rail carriage andthe container which has already been gripped, are not possible. Becausethe transcontainer on the one hand is coupled rigidly to the liftingmeans of the transloading apparatus and on the other hand is alsorestrained by the positioning pins on the carriage or by abutmentagainst a second load unit, there are major constraining forces whichmay result either in damage to the transloading apparatus, the vehiclesuch as the carriage or to the transcontainer. In order to overcome thisdrawback, the invention provides that each of the two columns or each ofthe two vertically displaceable lifting structures is connected to theload receiving means by way of a pendulum suspension. The pendulumsuspension which, according to a working example of the invention, maycomprise a centering pin and a seat means is preferably arrestable. Thependulum suspension of the load receiving means, by eliminating therigid load guidance, affords yieldability to the grappling means.Depending on the nature of the pendulum suspension a relative movementcan be afforded with an optional number of up to all six degrees offreedom, permitting positioning errors or skew positioning of thecontainer to be compensated for. However, the pendulum suspension shouldpreferably be permitted only during loading and unloading, i.e. thepicking up of the load and the depositing of the load, for which reasonduring transporting of the picked up container by the transloadingapparatus the pendulum suspension is blocked in that the container isrigidly connected to the lifting structures. The rigid connectioninhibits the dreaded pendulum movements during transport and permits anincreased transportation velocity. At the same time the arrestingpermits centering the container in relation to the transloadingapparatus or the lifting structures.

Any structures known in the art can be used as the load receiving means,in particular a spreader, preferably a telescopic spreader, or a walkingbeam can be used. As an alternative to these single component loadreceiving means it is possible to employ a plurality of walking beams,grappling arms or grappling beams, preferably coupled together, each ofwhich is connected to a single lifting structure. For example, twograppling beams each having two pivoting pins for container transloadingand two grappling arms for interchangeable containers and semi-trailersmay be used of which each is fitted to one of the two lifting structure.

The pendulum suspension in the simplest situation may comprise ropesand/or pendulum rods.

When using pendulum rods these, according to a further embodiment of theinvention, are provided at each end with ball and socket or cardaniclinkages which provide for a free pendulum and evasive movement. Thependulum suspensions in or from the lifting structures are verticallymovable, more particularly being each separately vertically movable, sothat an adaptation of the position is automatically brought about evenwhen the transcontainers stand skew in that during setting down thependulum rods are upwardly displaced. When using a rope a compensationis brought about by rope slack formation.

According to a further embodiment the lifting structures are eachmounted in a crane trolley where they can be separately moved not onlyvertically but also transversely to the longitudinal axis of thecontainer. It is thus possible to also grapple such containers whichhave been turned skew about the vertical axis. This is so because bymutual transverse displacement the load receiving means such as thespreader can be turned.

The aforedescribed construction offers the advantage that positioningerrors or skew positioning of the container during loading and unloadingcan be compensated. On the other hand for rapid loading and unloadingoperations with a moving train, an exact guidance of the load receivingmeans, for example, the spreader is necessary and the spreader is asrigid as possible. Disadvantages of a rigid suspension arise in theevent of relative movement between the carriage or other transport meansto be unloaded and the load unit which has already been gripped, If theload unit on the one hand is rigidly coupled to the crane and on theother hand is still restrained by the positioning pins on the carriageor by leaning against a second load unit, high constraining forces mayarise which can result in damage to the crane, transport means or theload unit. In order to limit an accurate guidance of the load receivingapparatus in relation to the transcontainer to the same extent asproviding for the avoidance of pendulum movements during the liftedtransportation of the transcontainer by the transloading apparatus, thetransloading apparatus according to the invention comprises pendulumrods which in their lower region close to where the load is picked up,or whereof the load receiving means are guidable by virtue of adjustmentunits. By means of these adjustment units it is possible to temporarilyabolish the normally advantageous rigid load guidance in order tocompensate for minor positioning errors or skew positioning of the loadunits in relation to the load receiving unit. As soon as centering ofthe transcontainer in relation to the load receiving means has beenbrought about the transcontainer can be rigidly coupled to the loadreceiving means,

Since the load receiving means by way of the adjustment units areadditionally pivotal about a vertical axis it is possible not only tocompensate for translatory displacements in the horizontal plane or (byway of the suspensions of the pendulum rods) skew positioning, but alsofor mal-positionings displaced about a vertical axis by a pivotingangle. Preferably the load receiving means can be guided by way of theadjustment means in three degrees of freedom.

In order to be able to provide adequate guidance for the load receivingmeans in relation to the pendulum rods, a further embodiment of theinvention provides at least three adjustment units, preferably fouradjustment units, the arrangement of which permits not only translatorymovements in three dimensions but also pivotal movements about avertical axis. For this purpose, according to a further embodiment ofthe invention, four pendulum rods are provided, each of which is coupledto an adjustment unit, at least two of the adjustment units, viewed inplan view being in vertical relationship to one another. In this mannerit is possible to apply as uniform a compressive or tensile force aspossible between the pendulum rods and the load receiving means at thepoints of attack.

In order to avoid additional arresting means a further embodiment of theinvention provides that the adjustment means can be arrested in optionalextended positions. This embodiment permits "freezing" the adjustmentmeans after alignment in order for the lifting transport to providerigid coupling whereby pendulum movements are avoided.

In accordance with a further embodiment of the invention the adjustmentmeans includes an integrated distance measuring means which, inconjunction with the control regulating means permits a fine alignmentfor the grappling and setting down procedure.

The pressure limiting valves which are preferably provided in theadjustment units limit the transverse forces arising from the horizontalaccelerations of the crane trolley and/or portal to a maximum.

The adjustment means damp pendulum movements of the load unit and alsopermit fine position adjustments of the load receiving means in relationto the container. This obviates having to accurately align the cranetrolley or the portal. Accordingly, the masses to be accelerated arereduced. Furthermore, the positioning accuracy is increased because ofthe low adjustment velocities of the adjustment units and thecorrespondingly reduced forces which are needed for bringing aboutmovement.

The load receiving means during mutual displacements tranversely can beturned like a spreader, permitting fine adjustments to be carried out byway of the aforesaid adjustment units.

The crane trolleys may be supported on one or two bridge, half or fullportal cranes, the crane trolleys preferably being adapted to be movedjointly by way of a synchronising control. According to a furtherembodiment of the invention the crane trolleys may also each be fittedto a separate crane between which the longitudinal spacing is adjustableso that by adjusting the longitudinal spacing of the cranes, the loadreceiving means, composed of two grapple beams can be adjusted to theparticular length of the container. In order to be able to adapt thegrappling arms or grappling beams also to load units which are skewabout all three axes, it is possible to employ in addition a connectionof the two grappling beams or arms by way of a torsionally rigid andnon-flexible element which adapts to the spacing of the grappling beams,such as a telescope beam. This element only serves to couple the pivotaldegrees of freedom of the two grappling beams so that these will e.g.always lie in planar relationship on the roof surface of thetranscontainer. Here as well it is possible to perform free adjustmentsby way of the said adjustment units.

Optionally the crane trolleys may additionally be interconnected by acoupling rod, preferably a telescope coupling rod, particularly if theload pick-up proceeds not by two separate grappling beams but by a rigidspreader.

The adjustment units may be mounted on both sides in articulationeyelets on a pendulum rod and on the lifting structure or the pendulumrods are guided by guide gates to uncouple the adjustment movements inboth planes which am normal to one another, the adjustment units beingfitted rigidly to the lifting structure.

The adjustment cylinders are fitted in articulation eyelets on one sideto the lifting structure and on the other side to the spreader. Thisoffers the advantage that no transverse force acts onto the pendulumrod.

BRIEF DESCRIPTION OF THE DRAWING

The above and other objects, features, and advantages will become morereadily apparent from the following description, reference being made tothe accompanying drawing in which:

FIGS. 1a, 1b and 1c are respective schematic front views of thetransloading apparatus in relation to a transcontainer in variousoperative positions;

FIG. 2a is a similar view of an embodiment of the transloading apparatusincluding a single rail trolley having a rigid, lifting structure fromwhich two pendulum rods are cardanically suspended;

FIG. 2b is a schematic front view of a further embodiment including asingle pendulum rod on the lifting structure;

FIG. 3 is a diagram showing interconnection by way of a coupling rod andthe use of a telescope spreader;

FIG. 4 is an elevational view showing lifting structures and liftingbeams suspended from pendulum rods and interconnected by way of anon-flexible telescope;

FIGS. 5a, 5b and 5c are schematic sections through a transloadingapparatus in relation to a container in different operative positions;

FIG. 5d is a view taken along the section line Vd--Vd of FIG. 5a; and

FIG. 6a and 6b are sections through a dual-rail trolley having rigidlifting structures on a crane bridge in different views.

SPECIFIC DESCRIPTION

The transloading apparatus according to the invention comprisesessentially a lifting structure including two rigid columns 10 and 11interconnected by at least one transverse beam. The lifting structure isvertically movable in a crane trolley 12 by virtue of a linear guidesystem 13, 14. The two column 10 and 11 are each represented by boxprofiles in each of which a pendulum rod 15 and 16 is cardanicallymounted. At the lower free end of the pendulum rod 15, 16 a loadreceiving means 17 is fitted likewise by way of cardanic mountings. Theinterconnected columns 10 and 11 are, moreover, connected to anarresting means 18 formed, for example, by a pin mounted on the loadreceiving means 17 suspended from the pendulum means, and anappropriately shaped rebate connected to the lifting structure.

The rebate may be rendered movable by way of a lifting cylinder 18a (seealso FIG. 2a).

The lifting means 19 provided on the trolley 12 serves for raising andlowering the lifting structure.

In the illustration according to FIG. 1a the arresting means 18 islocked to the load receiving means 17, for example, so as to be able toadjust an optimal position by way of suitable control and regulatingsystems when moving the transloading apparatus into the pick up positionin relation to the transcontainer. Undesirable pendulum movements of theload receiving means in relation to the lifting structure can be avoidedeffectively. When the arresting means is released it is possible, asshown in FIG. 1b, to bring about a horizontal alignment of the spreaderserving as load receiving means 17 by aligning the pendulum rods 15 and16. After coupling the container 20 to the spreader 17 and, slightlylifting the latter, the pendulum rods are swung by gravity again intothe vertical position in which the arresting means 18 can be locked.After releasing the locking means 18 it is possible also to securelycouple containers 20 in a skew position in accordance with FIG. 1a inthe come of which one of the pendulum rods--in this case pendulum rod16--during setting down is automatically displaced upwardly. The liftingstructure may be raised and lowered by virtue of the drive means firedto the trolley 12.

The transloading apparatus according to FIG. 2a shows on a box beam 21of a crane a single rail crane trolley 22, the lifting structurecomprising two columns 10 and 11 and to the upper end of which thependulum rods 15 and 16 are cardanically suspended (i.e. suspended by aball-joint) as in the case of the embodiment of FIGS. 1a to 1c. Likewisethe load receiving means 17 is fitted to the pendulum rods 15 and 16 byway of a cardanic (ball-joint) linkage. In addition the liftingstructure comprises a hydraulic cylinder 18a to the free end of which areceiving formation for a pin connected to the load receiving means 17is fitted and forms an arresting means 18. In the present case twohydraulic cylinders 23 serve for raising and lowering the load receivingmeans 17 and the container 20 by movement of the columns 10 and 11.

However, it is equally possible (FIG. 2b) to provide a column 10 orlifting structure with a single pendulum rod only, connected to the loadreceiving means 17. In that case, two arresting means 18 are providedwhich each laterally engage the load receiving means 17. Suchembodiments are particularly practical in a modification in which twolifting structures each comprise a pendulum rod and four arrestingmeans.

In the case of the transloading apparatus according to FIG. 3, twobridge crane trolleys 30 and 31 are interconnected by way of a couplingrod 32 and carry a telescope spreader 33. Grappling arms 34 by means ofwhich interchangeable containers or semi-trailers can be picked up areswung upwards in the present case. The drive means 35 of the bridgecrane trolleys are synchronized with one another. Due to the separatevertical displaceability of the lifting structures 110 and 111 it ispossible for each lifting structure to be lifted appropriately inaccordance with a skew position of the transcontainer 20. Where thepositioning is diagonally skew, a further compensation therefore ispossible by way of yielding pendulum suspensions.

In the transloading apparatus according to FIG. 4, the respectivelifting mechanisms 110 and 111 are vertically movably provided inseparated bridge crane trolleys 40 and 41. Lifting beams 42 and 43,interconnected by a non-flexible and torsionally rigid telescope rod 44to provide coupling for transmitting the rotary degrees of freedom aresuspended from pendulum rods by way of a universal joint linkage.

The transloading apparatus illustrated in FIGS. 1a to 1c, operates asfollows for receiving and transporting a container with a spreaderserving as load receiving means:

Upon horizontal movement of the transloading apparatus, i.e. duringtravelling into the picking up position, the spreader 17 is fixedhorizontally by the lifting structures 10 and 11 in relation to thearresting means 18 (FIG. 1a). Shortly before the spreader 17 settlesonto the transcontainer 20, the locking is released. The spreader 17will then settle with released locking means, i.e. being horizontallyand optionally vertically freely movable, onto the container and islocked thereto. After lifting the container 20 from the vehicle, thespreader 17 is once again interlocked for further transport with thelifting structures 10 and 11.

Similar procedures are followed when setting down the transcontainer 20,i.e., travelling proceeds with the spreader 17 locked. After reachingthe setting down position, the locking between the spreader 17 and thelifting structures 10 and 11 is first released before the container isset down and the locking between the spreader 17 and the container 20 isreleased. Afterwards the spreader is raised and again interlocked withthe lifting structure 10, 11.

The transloading apparatus according to the invention is usefulparticularly for combined loading traffic with changing load units. Dueto the guidance of the spreader being alternatingly rigid duringtransport or the pendulum suspension is released, optimal provision maybe made for different operating positions.

In the case of the transloading apparatus according to the invention asshown in FIGS. 5a to d, each of the four pendulum rods 10 and 11,provided in that case, has in its lower region an articulatedservo-cylinder 180 serving as an adjustment unit or (see FIG. 5d) 181 to184 the one end of which is connected to the pendulum rods 15 or 16 andthe second end of which is connected to the load receiving means 17. Thelifting means 19 fitted to the crane trolley 12 serves for raising andlowering the lifting structure. The container is denoted as 20.

FIG. 5a shows the load receiving means with the spreader 17 alreadyplaced in position by way of the crane trolley, the pendulum rods 15 and16 having been locked by way of the servo-cylinders 180. By lowering thespreader 17 and fitting the container 20 to the spreader 17 the load canbe picked up.

FIG. 5b shows a first possibility of a mal-alignment. In order to beable to connect the spreader 17 to the container 20 the pendulum rods 15and 16 must be swung out laterally, which can take place by retractingor extending or releasing the servo-cylinders 180. After coupling thecontainer 20 to the spreader 17 and the slight raising thereof, thependulum rods are swung again by gravity into the vertical positionwhereafter the servo-cylinders 180 can be locked.

As apparent from FIG. 5c it is also possible to securly couple skewtranscontainers 20. When lowering the spreader 17 the latter isdeposited on the transcontainer 20 while the pendulum rod 15 which iscardanically articulated at its upper end, is moved slightly from thevertical. The servo-cylinder 180 yields likewise.

The arrangement of the servo-cylinders 181 to 184 is shown in FIG. 5d.In the case there illustrated, all four pendulum rods 15 and 16 arelinked in an articulated manner at their lower end to the first end of aservo-cylinder 181 to 184 the opposite end of which is coupled to theload receiving means 17. The pendulum rods 15, 16 can be released, swungor locked by way of the articulated connection of the servo-cylinders181 to 184, parallel arrangement of each of the servo-cylinders 181 and184 respectively 182 and 183 also permitting rotational movements of thespreader 17 in relation to an axis vertical to the drawing plane.

FIGS. 6a and 6b show on a box beam 21 of a crane a crane trolley 22 towhich a lifting structure comprising two columns 10 and 11 is fitted. Atthe upper end of the lifting structure the pendulum rods 15 and 16 arecardanically suspended. At the lower end, likewise by way of a cardanicsuspension, the load receiving means 17 for fixing the container 20 issuspended. In addition, grapple arms 45 are apparent from FIG. 6a, bymeans of which interchangeable containers or semi-trailers can be pickedup. These grapple arms 45 are swung upwards in the present case.

The advantages of the servo-cylinders provided for in accordance withthe invention reside particularly in that horizontal, vertical as wellas pivotal movements of the spreader are made possible. In addition, byvirtue of the distance measuring system integrated with the cylinders180 it is possible to measure the position of the pendulum rods 15 and16.

Because of their smaller movable masses the servo-cylinders 180 can bepositioned more rapidly, easily and exactly than would be possible bymoving the crane trolley into alignment. Furthermore a pendulum dampingor pendulum rod arrestation in virtually any set positions can beprovided by way of the servo-cylinders 180. Finally, it is possible tolimit the transverse force of the lifting structures by pressuremeasurement or pressure limiting valves of the servo-cylinders.

We claim:
 1. A transloading apparatus for containers comprising:ahorizontally displaceable support spaced above a container to betransloaded and including at least one crane trolley; two horizontallyspaced vertically elongated rigid lifting structures on said support;means on said support for vertically displacing said lifting structureson said support; a respective pendulum structure on each of said rigidlifting structures and having lower ends swingable relative to saidlifting structures, each of said pendulum structures including apendulum rod and means for cardanically mounting the respective pendulumrod at an upper end of the respective lifting structure; load receivingmeans connected cardanically to said lower ends of said pendulumstructures and provided with formations for engagement with saidcontainer and affixing said container detachably to said apparatus; andselectively operable arresting means for preventing swinging movement ofsaid pendulum structures relative to said lifting structures.
 2. Thetransloading apparatus defined in claim 1 wherein the arresting meanscomprises a centering pin and a receiving element therefor.
 3. Thetransloading apparatus defined in claim 1 wherein the load receivingmeans includes a telescopic spreader.
 4. The transloading apparatusdefined in claim 1 wherein the means for cardanically mounting is a balljoint.
 5. The transloading apparatus defined in claim 1 wherein eachpendulum structure is separately vertically displaceable on therespective lifting structure.
 6. The transloading apparatus defined inclaim 1 wherein in lower areas close to the load receiving means thependulum structures are guided by adjusting units, forming saidarresting means.
 7. The transloading apparatus defined in claim 6wherein the load receiving means are in addition pivotable about avertical axis via said adjusting units in the form of servo-cylinders.8. The transloading apparatus defined in claim 6 wherein the loadreceiving means are guided over three degrees of freedom via theadjusting units.
 9. The transloading apparatus defined in claim 6wherein the load receiving means is guided via at least three adjustingunits, each of which is connected with a pendulum rod.
 10. Thetransloading apparatus defined in claim 6 wherein the adjusting unitscan be arrested in any desired orientation or position.
 11. Thetransloading apparatus defined in claim 6 wherein the adjusting unitsare supported at both ends articulatingly to a pendulum rod and to thelifting structure.
 12. The transloading apparatus defined in claim 6wherein the adjusting units are each supported articulatingly to thelifting structure and to the load receiving means.
 13. The transloadingapparatus defined in claim 1 wherein the crane trolley is mounted on aportal.
 14. The transloading apparatus defined in claim 1 wherein thelifting structures are each connected to a respective bridge cranetrolley and the bridge crane trolleys can be separately moved in atransverse direction with respect to a longitudinal axis of thecontainer.
 15. The transloading apparatus defined in claim 14 whereinthe bridge crane trolleys are displaceable by means of a synchronouscontrol.
 16. The transloading apparatus defined in claim 15 wherein thebridge crane trolleys are interconnected by a telescopic coupling rod.17. A transloading apparatus for containers comprising:a horizontallydisplaceable support spaced above a container to be transloaded andincluding at lest one crane trolley; two vertically elongated rigidlifting structures on said support; means on said support for verticallydisplacing said lifting structures on said support a respective pendulumstructure on each of said rigid lifting structures and having lower endsswingable relative to said lifting structures, each of said pendulumstructures including a pendulum rod and means for cardanically mountingthe respective pendulum rod at an upper end of the respective liftingstructure; load receiving means connected cardanically to said lowerends of said pendulum structures and provided with formations forengagement with said container and affixing said container detachably tosaid apparatus; and selectively operable arresting means for preventingswinging movement of said pendulum structures relative to said liftingstructures, wherein in lower areas close to the load receiving means thependulum structures are guided by adjusting units forming said arrestingmeans, four of said pendulum rods being provided, each coupled to arespective one of said adjusting units whereby at least two of theadjusting units are arranged perpendicularly with respect to said otherwhen considered in a plan view, each of said rods having ball-joints atupper and lower ends thereof.